A rust removal and cleaning integrated robot for ship maintenance and control method thereof

Abstract

The present invention belongs to the technical field of ship rust removal, and particularly relates to an integrated rust removal and cleaning robot for ship maintenance and a control method thereof, comprising two groups of driven components, a driving component, a first cleaning component and a second cleaning component; the two groups of driven components are symmetrically arranged with the central axis of the driving component as the center; the output end of the driving component is used to drive the two groups of driven components to drive synchronously, so that the robot is in a state of horizontal walking on the ship deck, and the first cleaning component and the second cleaning component are used in coordination to switch the robot to a state where it can crawl on the ship cargo hold wall, and in the process of crawling, rust is removed from the front of the robot, and after the driving component moves to the rusted position, the position can be further rusted, so that the robot can freely switch between the ship deck and the ship cargo hold wall for barrier-free movement, and the application scope of rust removal is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ship rust removal, and in particular relates to an integrated rust removal and cleaning robot for ship maintenance and a control method thereof. Background Art

[0002] At present, the collision and friction between cargo hold walls, cargo hold bottoms and other parts of cargo holds (large holds) during cargo loading and unloading operations will cause great damage to the coating. In addition to the harmful gases emitted by the loaded cargo, the deck is exposed to the sun during the day, and the temperature difference is large after cooling down at night. A large amount of water droplets condense on the surface of the top wall of the cargo hold, causing water accumulation at the bottom of the cargo hold, poor ventilation, hot and humid weather, and the interaction of harmful gases and moisture, which causes the coating to rust quickly. Therefore, in order to solve the above technical problems and reduce the labor intensity of workers, it is necessary to use robots regularly to regularly maintain and remove rust on the cargo hold walls and cargo hold bottoms of ships.

[0003] After searching, in the prior art, Chinese patent publication number CN218839724U, authorization announcement date: 2023-04-11, discloses a ship cleaning robot, which relates to the field of ship cleaning technology. The ship cleaning robot includes a base, a power generation device and an electrical device. The electrical device includes a walking mechanism. The base is fixed on the walking mechanism. The walking mechanism is used to attach to the surface of the ship and drive the base to move on the surface of the ship, thereby cleaning the surface of the ship. The power generation device is fixed on the base. The power generation device includes a power generation unit and an energy storage unit. The power generation unit includes a spiral assembly and a generator. The propeller shaft of the spiral assembly is connected to the generator. During the ship's travel, the spiral assembly rotates using the resistance of seawater to drive the generator to generate electricity. The generator is electrically connected to the energy storage unit, and the electrical energy generated by the generator is stored in the energy storage device. The energy storage unit is electrically connected to the electrical device and supplies power to the electrical device on the robot. The ship cleaning robot can be powered autonomously without the need for external umbilical cord power supply, and the cleaning work can be carried out smoothly and conveniently.

[0004] However, the equipment still has the following defects: although it can carry out cleaning work smoothly and conveniently without the need for external umbilical cord power supply, it is often not possible to freely adjust and switch when switching the rust removal cleaning of the ship deck and the ship cargo hold wall, and the rust removal range and rust removal effect are not ideal. Summary of the invention

[0005] In view of the above problems, the present invention provides an integrated rust removal and cleaning robot for ship maintenance, comprising two groups of driven components, a driving component, a first cleaning component and a second cleaning component; the two groups of driven components are symmetrically arranged with the central axis of the driving component as the center, and the two groups of driven components are both transmission-connected with the driving component, the first cleaning component and the second cleaning component are symmetrically arranged with the central axis of the driving component as the center, and the first cleaning component and the second cleaning component have the same structure and shape;

[0006] The output end of the driving component is used to drive the two groups of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck, and by using the first cleaning component and the second cleaning component in combination, the robot is switched to a state where it can crawl on the ship's cargo hold wall, and during the crawling movement, rust is removed in front of the robot. When the driving component moves to the rusted position, further rust removal can be performed on the position, so that the robot can freely switch between the ship deck and the ship's cargo hold wall and move without obstacles, and the application scope of rust removal is improved.

[0007] Furthermore, the driven component includes a first assembly plate and a second assembly plate; the first assembly plate and the second assembly plate are both triangular structures, and the corners of the first assembly plate and the second assembly plate are rotatably connected with drive rollers, and several groups of the drive rollers are sleeved with anti-slip belts, both ends of the drive rollers are fixedly connected with limit stop rings, and one side wall of the limit stop ring is movably fitted and connected to the edge of the anti-slip belt.

[0008] Furthermore, the driving assembly includes a storage shell; a first motor is fixedly connected to both sides of the outer wall of the storage shell, and the output ends of two groups of the first motors are transmission-connected to the ends of a group of driving rollers; the storage shell is an open structure, and a first electric push rod is fixedly connected to the bottom end of the inner wall of the storage shell.

[0009] Furthermore, the output end of the first electric push rod passes through the bottom of the storage shell, and the output end of the first electric push rod is transmission-connected to a grinding cover. The inner wall of the grinding cover and a position close to the bottom are rotationally connected to two groups of first magnetic rollers, and the two groups of first magnetic rollers are arranged with the central axis of the grinding cover as the center.

[0010] Furthermore, two groups of second motors are fixedly connected to one side wall of the grinding cover, and the output ends of the two groups of second motors are transmission connected to the first magnetic roller, a second electric push rod is fixedly connected to the top of the inner wall of the grinding cover, and the output end of the second electric push rod is transmission connected to the third motor, and the output end of the third motor is transmission connected to the grinding disc.

[0011] Furthermore, the first cleaning component includes a reinforcing arm and a diversion mechanism; one end of the reinforcing arm is fixedly connected to an arc-shaped clamp, and a sliding cavity is opened on the surface of the arc-shaped clamp, and the other end of the reinforcing arm is fixedly connected to the outer wall of the storage shell.

[0012] Furthermore, a fourth motor is fixedly connected to the inner wall of the arc-shaped fixture, and the center of the central axis of the fourth motor coincides with the arc axis of the arc-shaped fixture, and the output end of the fourth motor is transmission-connected to a driven arm.

[0013] Furthermore, a second magnetic roller is rotatably connected to the driven arm, and a side wall of the second magnetic roller is rollingly fitted to the outer wall of the arc clamp, and two groups of positioning pins are fixedly connected to the end of the arc clamp and the side away from the reinforcement arm, and both groups of positioning pins are rotatably connected to the end of the driving roller, and the diversion mechanism is movably fitted in the sliding cavity, and the diversion mechanism is clamped on the outside of the second magnetic roller.

[0014] Furthermore, the diversion mechanism includes a guide pipe; the guide pipe is movably and closely connected to the inner wall of the sliding cavity, and both ends of the guide pipe are embedded and installed on the driven arm, a blocking structure is arranged at the center of the central axis of the guide pipe, a first diversion cover and a second diversion cover are embedded and installed on the guide pipe, and the first diversion cover and the second diversion cover are both located near the end of the guide pipe, a third diversion cover is fixedly connected between the first diversion cover and the second diversion cover, and a fourth diversion cover is also fixedly connected between the first diversion cover and the second diversion cover, a plurality of groups of first diversion holes are provided at the bottom of the first diversion cover, the second diversion cover and the third diversion cover, and the plurality of groups of first diversion holes are interconnected with one end of the guide pipe, a plurality of groups of second diversion holes are provided at the top of the first diversion cover, the second diversion cover and the fourth diversion cover, and the plurality of groups of first diversion holes are interconnected with the other end of the guide pipe.

[0015] A control method for an integrated rust removal and cleaning robot for ship maintenance comprises the following steps:

[0016] The output end of the driving component is used to drive the two sets of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck;

[0017] The first cleaning component and the second cleaning component are used together to switch the robot to a state where it can crawl on the cargo hold wall of the ship, and remove rust in front of the robot during the crawling movement.

[0018] After the driving component moves to the rusted position, the position can be further derusted, allowing the robot to switch freely and move unimpeded between the ship deck and the ship cargo hold wall.

[0019] The beneficial effects of the present invention are:

[0020] 1. The output end of the driving component is used to drive two sets of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck. The first cleaning component and the second cleaning component are used in conjunction to switch the robot to a state where it can crawl on the ship cargo hold wall, and in the process of crawling, the front of the robot is derusted. After the driving component moves to the rusted position, the position can be further derusted, so that the robot can switch freely between the ship deck and the ship cargo hold wall and move without obstacles, and the application scope of rust removal is improved.

[0021] 2. The polishing cover is pushed down by the output end of the first electric push rod, so that the two sets of first magnetic rollers are in contact with the ship deck and the ship cargo hold wall. After the anti-skid track is located away from the ship deck and the ship cargo hold wall so that it is in a suspended state, the first magnetic roller is adsorbed and connected to the ship deck and the ship cargo hold wall, and the first magnetic roller is driven to rotate under the action of the first motor, so that the robot is displaced to one side, which is used to quickly switch the robot's rust removal and cleaning path.

[0022] 3. The grinding cover is pulled up by the output end of the first electric push rod to separate the two sets of first magnetic rollers from the ship deck and the ship cargo hold wall. After the anti-skid track is fitted with the ship deck and the ship cargo hold wall again, the output end of the second electric push rod is used to drive the grinding disc to fall so that it contacts the ship deck and the ship cargo hold wall, and the third motor drives the grinding disc to rotate at a high speed, which is used to grind and clean the rusted positions of the ship deck and the ship cargo hold wall, thereby improving the efficiency of rust removal.

[0023] 4. After one end of the guide pipe is connected to the rust remover pipeline, after the second magnetic roller contacts the ship deck and the ship cargo hold wall, the rust remover can be sprayed out through the first diversion cover, the second diversion cover and the fourth diversion cover. The top is provided with a plurality of second diversion holes to increase the rust removal effect and make it easier to clean stubborn rust spots. After the other end of the guide pipe is connected to the high-pressure water pipeline, after spraying the rust remover, the first diversion cover, the second diversion cover and the third diversion cover are provided with a plurality of first diversion holes to spray high-pressure water columns on the rust spots to remove rust, thereby achieving a double rust removal effect.

[0024] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The structure of the integrated rust removal and cleaning robot according to the embodiment of the present invention is shown. Figure 1 ;

[0027] Figure 2 The structure of the integrated rust removal and cleaning robot according to the embodiment of the present invention is shown. Figure 2 ;

[0028] Figure 3 A schematic diagram of the structure of a driven component according to an embodiment of the present invention is shown;

[0029] Figure 4 The structure of the driving component of the embodiment of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 5 The structure of the driving component of the embodiment of the present invention is shown in FIG. Figure 2 ;

[0031] Figure 6 A schematic diagram showing the structure of a first cleaning component according to an embodiment of the present invention is shown;

[0032] Figure 7 A schematic structural diagram of a flow diversion mechanism according to an embodiment of the present invention is shown.

[0033] In the figure: 1. driven component; 11. first assembly plate; 12. second assembly plate; 13. driving roller; 14. anti-skid track; 15. limit ring; 2. driving component; 21. storage shell; 22. first motor; 23. first electric push rod; 24. grinding cover; 25. first magnetic roller; 26. second motor; 27. second electric push rod; 28. third motor; 29. ​​grinding disc; 3. first cleaning component; 31. reinforcement arm; 32. arc fixture; 33. sliding cavity; 34. fourth motor; 35. driven arm; 36. positioning shaft pin; 37. second magnetic roller; 38. diversion mechanism; 381. guide tube; 382. first diversion cover; 383. second diversion cover; 384. third diversion cover; 385. fourth diversion cover; 4. second cleaning component. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The embodiment of the present invention provides an integrated rust removal and cleaning robot for ship maintenance, comprising two sets of driven components 1, a driving component 2, a first cleaning component 3 and a second cleaning component 4; illustratively, Figure 1 and Figure 2 shown.

[0036] The two groups of driven components 1 are symmetrically arranged with the central axis of the driving component 2 as the center, and the two groups of driven components 1 are both transmission connected to the driving component 2. The first cleaning component 3 and the second cleaning component 4 are symmetrically arranged with the central axis of the driving component 2 as the center, and the first cleaning component 3 and the second cleaning component 4 have the same structure and shape.

[0037] Specifically, the output end of the driving component 2 is used to drive the two groups of driven components 1 to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck, and by using the first cleaning component 3 and the second cleaning component 4 in cooperation, the robot is switched to a state where it can crawl on the ship's cargo hold wall, and during the crawling movement, rust is removed in front of the robot. When the driving component 2 moves to the rusted position, further rust removal can be performed on this position, so that the robot can freely switch between the ship deck and the ship's cargo hold wall and move without obstacles, and the application scope of rust removal is improved.

[0038] The driven assembly 1 includes a first assembly plate 11 and a second assembly plate 12; illustratively, as Figure 3 shown.

[0039] The first assembly plate 11 and the second assembly plate 12 are both triangular structures, and the corners of the first assembly plate 11 and the second assembly plate 12 are rotatably connected with driving rollers 13, and several groups of the driving rollers 13 are sleeved with anti-skid belts 14, both ends of the driving rollers 13 are fixedly connected with limiting stop rings 15, and one side wall of the limiting stop ring 15 is movably fitted and connected to the edge of the anti-skid belt 14.

[0040] Specifically, the first assembly plate 11 and the second assembly plate 12 are used to fasten the two ends of several groups of driving rollers 13, so that the several groups of driving rollers 13 are rotatably connected between the first assembly plate 11 and the second assembly plate 12, and in the process of the rotation of the several groups of driving rollers 13, the anti-skid track 14 is driven, so that the anti-skid track 14 is fit and connected with the ship deck and the ship cargo hold wall, which is used for the one-way movement of the robot.

[0041] The drive assembly 2 includes a housing 21; illustratively, Figure 4 and Figure 5 shown.

[0042] The first motors 22 are fixedly connected to both sides of the outer wall of the storage shell 21, and the output ends of the two groups of the first motors 22 are transmission-connected to the ends of a group of driving rollers 13. The storage shell 21 is an open structure, and the bottom end of the inner wall of the storage shell 21 is fixedly connected to the first electric push rod 23, the output end of the first electric push rod 23 passes through the bottom of the storage shell 21, and the output end of the first electric push rod 23 is transmission-connected to the grinding cover 24, and the inner wall of the grinding cover 24 and the position near the bottom rotate Two groups of first magnetic rollers 25 are connected, and the two groups of first magnetic rollers 25 are arranged with the central axis of the grinding cover 24 as the center. Two groups of second motors 26 are fixedly connected to one side wall of the grinding cover 24, and the output ends of the two groups of second motors 26 are both transmission connected to the first magnetic rollers 25. A second electric push rod 27 is fixedly connected to the top of the inner wall of the grinding cover 24, and the output end of the second electric push rod 27 is transmission connected to the third motor 28, and the output end of the third motor 28 is transmission connected to the grinding disc 29.

[0043] Specifically, the storage housing 21 is connected to the ends of a group of driving rollers 13 by means of the first motors 22 on both sides, so that the anti-skid track 14 is rolled and connected to the driving rollers 13 while the group of driving rollers 13 rotates;

[0044] The output end of the first electric push rod 23 pushes the grinding cover 24 to fall, so that the two sets of first magnetic rollers 25 are in contact with the ship deck and the ship cargo hold wall. After the anti-skid track 14 is located away from the ship deck and the ship cargo hold wall so that it is in a suspended state, the first magnetic roller 25 is adsorbed and connected to the ship deck and the ship cargo hold wall, and the first magnetic roller 25 is driven to rotate under the action of the first motor 22, so that the robot moves to one side, which is used to quickly switch the robot's rust removal and cleaning path;

[0045] The output end of the first electric push rod 23 pulls the grinding cover 24 upward, so that the two groups of first magnetic rollers 25 are separated from the ship deck and the ship cargo hold wall, and after the anti-skid track 14 is again fitted with the ship deck and the ship cargo hold wall, the output end of the second electric push rod 27 is used to drive the grinding disc 29 to fall, so that it contacts the ship deck and the ship cargo hold wall, and the third motor 28 drives the grinding disc 29 to rotate at a high speed, so as to grind and clean the rusted positions of the ship deck and the ship cargo hold wall.

[0046] The first cleaning assembly 3 includes a reinforcement arm 31 and a diversion mechanism 38; illustratively, Figure 6 shown.

[0047] One end of the reinforcement arm 31 is fixedly connected to an arc-shaped clamp 32, and a sliding cavity 33 is opened on the surface of the arc-shaped clamp 32, the other end of the reinforcement arm 31 is fixedly connected to the outer wall of the storage shell 21, the inner wall of the arc-shaped clamp 32 is fixedly connected to the fourth motor 34, and the center of the central axis of the fourth motor 34 coincides with the arc axis of the arc-shaped clamp 32, the output end of the fourth motor 34 is transmission-connected to a driven arm 35, the driven arm 35 is rotatably connected to a second magnetic roller 37, and one side wall of the second magnetic roller 37 is rollingly fitted and connected to the outer wall of the arc-shaped clamp 32, two groups of positioning pins 36 are fixedly connected to the end of the arc-shaped clamp 32 and the side away from the reinforcement arm 31, the two groups of positioning pins 36 are rotatably connected to the end of the driving roller 13, the diversion mechanism 38 is movably fitted and connected in the sliding cavity 33, and the diversion mechanism 38 is clamped on the outside of the second magnetic roller 37.

[0048] The diversion mechanism 38 includes a flow guide tube 381; illustratively, as Figure 7 shown.

[0049] The guide pipe 381 is movably connected to the inner wall of the sliding cavity 33, and both ends of the guide pipe 381 are embedded and installed on the driven arm 35. A blocking structure is provided at the center of the central axis of the guide pipe 381. A first flow divider 382 and a second flow divider 383 are embedded and installed on the guide pipe 381, and the first flow divider 382 and the second flow divider 383 are both located near the end of the guide pipe 381. A third flow divider 384 is fixedly connected between the first flow divider 382 and the second flow divider 383. A fourth flow diversion cover 385 is also fixedly connected between the first flow diversion cover 382 and the second flow diversion cover 383. A plurality of first flow diversion holes are provided at the bottom of the first flow diversion cover 382, ​​the second flow diversion cover 383 and the third flow diversion cover 384, and the plurality of first flow diversion holes are interconnected with one end of the guide tube 381. A plurality of second flow diversion holes are provided at the top of the first flow diversion cover 382, ​​the second flow diversion cover 383 and the fourth flow diversion cover 385, and the plurality of first flow diversion holes are interconnected with the other end of the guide tube 381.

[0050] Specifically, the arc-shaped fixture 32 uses the positioning shaft pin 36 to increase the stability of the driving roller 13, and uses the output end of the fourth motor 34 to drive the second magnetic roller 37 to rotate to one side, so that the second magnetic roller 37 is in contact with the ship deck and the ship cargo hold wall, so that the robot is in the adsorption effect of the moving radial direction of the anti-skid track 14;

[0051] After one end of the guide pipe 381 is connected to the rust remover pipeline, after the second magnetic roller 37 contacts the ship deck and the ship cargo hold wall, the rust remover can be sprayed out using the first diversion cover 382, ​​the second diversion cover 383 and the fourth diversion cover 385. The top has a plurality of second diversion holes, which are used to increase the rust removal effect and make it easier to clean stubborn rust spots. After the other end of the guide pipe 381 is connected to the high-pressure water pipeline, after spraying the rust remover, the first diversion cover 382, ​​the second diversion cover 383 and the third diversion cover 384 have a plurality of first diversion holes, which are used to spray high-pressure water columns on the rust spots to remove the rust.

[0052] The working principle of the integrated rust removal and cleaning robot for ship maintenance proposed by the embodiment of the present invention is as follows:

[0053] The receiving housing 21 is connected to the ends of a group of driving rollers 13 by means of the first motors 22 on both sides, so that the anti-skid track 14 is rolled and connected to the driving rollers 13 while the group of driving rollers 13 rotates;

[0054] The polishing cover 24 is pushed down by the output end of the first electric push rod 23, so that the two sets of first magnetic rollers 25 are in contact with the ship deck and the ship cargo hold wall. After the anti-skid track 14 is located away from the ship deck and the ship cargo hold wall so that it is in a suspended state, the first magnetic roller 25 is adsorbed and connected to the ship deck and the ship cargo hold wall, and the first magnetic roller 25 is driven to rotate under the action of the first motor 22, so that the robot moves to one side, which is used to quickly switch the robot's rust removal and cleaning path;

[0055] The grinding cover 24 is pulled up by the output end of the first electric push rod 23, so that the two sets of first magnetic rollers 25 are separated from the ship deck and the ship cargo hold wall, and the anti-skid track 14 is again attached to the ship deck and the ship cargo hold wall, and then the output end of the second electric push rod 27 is used to drive the grinding disc 29 to fall, so that it contacts the ship deck and the ship cargo hold wall, and the third motor 28 drives the grinding disc 29 to rotate at a high speed, so as to grind and clean the rusted positions of the ship deck and the ship cargo hold wall;

[0056] The arc-shaped fixture 32 uses the positioning shaft pin 36 to increase the stability of the driving roller 13, and uses the output end of the fourth motor 34 to drive the second magnetic roller 37 to rotate to one side, so that the second magnetic roller 37 contacts the ship deck and the ship cargo hold wall, so that the robot is in the adsorption effect of the moving radial direction of the anti-skid track 14;

[0057] After one end of the guide pipe 381 is connected to the rust remover pipeline, after the second magnetic roller 37 contacts the ship deck and the ship cargo hold wall, the rust remover can be sprayed out using a plurality of second diversion holes provided at the top of the first diversion cover 382, ​​the second diversion cover 383 and the fourth diversion cover 385, so as to increase the rust removal effect and make stubborn rust spots easier to clean. After the other end of the guide pipe 381 is connected to the high-pressure water pipeline, after spraying the rust remover, a plurality of first diversion holes provided at the bottom of the first diversion cover 382, ​​the second diversion cover 383 and the third diversion cover 384 can be used to spray high-pressure water columns on the rust spots to remove the rust.

[0058] Based on the above-mentioned integrated rust removal and cleaning robot for ship maintenance, an embodiment of the present invention further provides a control method for the integrated rust removal and cleaning robot for ship maintenance, comprising the following steps:

[0059] The output end of the driving component is used to drive the two sets of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck;

[0060] The first cleaning component and the second cleaning component are used in combination to switch the robot to a state where it can crawl on the cargo hold wall of the ship, and remove rust from the front of the robot during the crawling movement;

[0061] After the driving component moves to the rusted position, the position can be further derusted, allowing the robot to switch freely and move unimpeded between the ship deck and the ship cargo hold wall.

[0062] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rust removal and cleaning integrated robot for ship maintenance, characterized in that: The invention comprises two groups of driven components (1), a driving component (2), a first cleaning component (3) and a second cleaning component (4); the two groups of driven components (1) are symmetrically arranged with the central axis of the driving component (2) as the center, and the two groups of driven components (1) are both drivingly connected to the driving component (2); the first cleaning component (3) and the second cleaning component (4) are symmetrically arranged with the central axis of the driving component (2) as the center, and the first cleaning component (3) and the second cleaning component (4) have the same structure and shape; The output end of the driving component is used to drive the two sets of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck, and the first cleaning component and the second cleaning component are used together to switch the robot to a state where it can crawl on the ship cargo hold wall, and in the process of crawling, the front of the robot is derusted. When the driving component moves to the rusted position, the position can be further derusted, so that the robot can switch freely between the ship deck and the ship cargo hold wall and move without obstacles, and the application scope of rust removal is improved; The driving assembly (2) comprises a storage shell (21); first motors (22) are fixedly connected to both sides of the outer wall of the storage shell (21), and the output ends of two groups of the first motors (22) are drivingly connected to the ends of a group of driving rollers (13); the storage shell (21) is an open structure, and the bottom end of the inner wall of the storage shell (21) is fixedly connected to a first electric push rod (23); The output end of the first electric push rod (23) passes through the bottom of the storage shell (21), and the output end of the first electric push rod (23) is drivingly connected to a grinding cover (24), and two groups of first magnetic rollers (25) are rotatably connected to the inner wall of the grinding cover (24) near the bottom, and the two groups of first magnetic rollers (25) are arranged in this direction with the central axis of the grinding cover (24) as the center; Two sets of second motors (26) are fixedly connected to one side wall of the grinding cover (24), and the output ends of the two sets of second motors (26) are both drivingly connected to the first magnetic roller (25); a second electric push rod (27) is fixedly connected to the top of the inner wall of the grinding cover (24), and the output end of the second electric push rod (27) is drivingly connected to the third motor (28), and the output end of the third motor (28) is drivingly connected to the grinding disc (29); The first cleaning component (3) comprises a reinforcement arm (31) and a diversion mechanism (38); one end of the reinforcement arm (31) is fixedly connected to an arc-shaped fixture (32), and a sliding cavity (33) is provided on the surface of the arc-shaped fixture (32); the other end of the reinforcement arm (31) is fixedly connected to the outer wall of the storage shell (21); A fourth motor (34) is fixedly connected to the inner wall of the arc-shaped fixture (32), and the center of the central axis of the fourth motor (34) coincides with the center of the circular arc of the arc-shaped fixture (32), and the output end of the fourth motor (34) is drivingly connected to a driven arm (35); The driven arm (35) is rotatably connected to a second magnetic roller (37), and a side wall of the second magnetic roller (37) is rollingly fitted to an outer wall of the arc-shaped fixture (32); two groups of positioning shaft pins (36) are fixedly connected to the end of the arc-shaped fixture (32) and on a side away from the reinforcement arm (31); both groups of positioning shaft pins (36) are rotatably connected to the end of the driving roller (13); the diverter mechanism (38) is movably fitted to the inside of the sliding cavity (33), and the diverter mechanism (38) is clamped to the outside of the second magnetic roller (37); The flow diversion mechanism (38) comprises a flow guide pipe (381); the flow guide pipe (381) is movably connected to the inner wall of the sliding cavity (33), and both ends of the flow guide pipe (381) are embedded and installed on the driven arm (35); a blocking structure is provided at the center of the central axis of the flow guide pipe (381); a first flow diversion cover (382) and a second flow diversion cover (383) are embedded and installed on the flow guide pipe (381); the first flow diversion cover (382) and the second flow diversion cover (383) are both located near the end of the flow guide pipe (381); a fixed seal is formed between the first flow diversion cover (382) and the second flow diversion cover (383); A third flow diversion cover (384) is fixedly connected thereto; a fourth flow diversion cover (385) is also fixedly connected between the first flow diversion cover (382) and the second flow diversion cover (383); a plurality of groups of first flow diversion holes are provided at the bottom of the first flow diversion cover (382), the second flow diversion cover (383) and the third flow diversion cover (384), and the plurality of groups of first flow diversion holes are communicated with one end of the flow guide tube (381); a plurality of groups of second flow diversion holes are provided at the top of the first flow diversion cover (382), the second flow diversion cover (383) and the fourth flow diversion cover (385), and the plurality of groups of first flow diversion holes are communicated with the other end of the flow guide tube (381).

2. The integrated rust removal and cleaning robot for ship maintenance according to claim 1, characterized in that: The driven component (1) comprises a first assembly plate (11) and a second assembly plate (12); the first assembly plate (11) and the second assembly plate (12) are both triangular structures; the first assembly plate (11) and the second assembly plate (12) are rotatably connected to driving rollers (13) at their corners; a plurality of groups of driving rollers (13) are sleeved with anti-skid tracks (14); both ends of the driving rollers (13) are fixedly connected to limit stop rings (15); and a side wall of the limit stop ring (15) is movably fitted and connected to the edge of the anti-skid track (14).

3. A control method for the integrated rust removal and cleaning robot for ship maintenance according to any one of claims 1-2, characterized in that: The control method comprises: The output end of the driving component is used to drive the two sets of driven components to drive synchronously, so that the robot is in a state of walking horizontally on the ship deck; The first cleaning component and the second cleaning component are used in combination to switch the robot to a state where it can crawl on the cargo hold wall of the ship, and remove rust from the front of the robot during the crawling movement; After the driving component moves to the rusted position, the position can be further derusted, allowing the robot to switch freely and move unimpeded between the ship deck and the ship cargo hold wall.

Images